【作者】 齐海龙；

【导师】 李秀娟；

【作者基本信息】 南京航空航天大学 ， 控制理论与控制工程， 2005， 硕士

【摘要】 随着网络技术的不断发展,Internet 技术已经渗透到日常生活和工业生产的各个领域,这使得利用 Internet 进行远程控制成为可能。现在,基于因特网的远程控制已经成为研究的热门。 本文首先详细研究分析了基于因特网的远程控制系统中存在的一些关键问题,研究了网络中信息传输的不确定延迟的基本规律。在此基础上,将远程控制系统进行了合理的转化,利用 H ∞控制理论,设计了一个不确定延迟补偿控制器,该控制器较好的解决了远程控制系统中的不确定延迟问题。 为了进一步提高控制器的效果,本文运用遗传算法对 H ∞控制器的参数进行了进一步的优化设计,较好的提高了控制器的性能;同时,对基本遗传算法中的待寻优参数的选择范围进行了研究,提出遗传算法的二次优化算法,该方法可以很好的提高遗传算法的搜索寻优效果。 最后,设计了一个远程控制系统的仿真软件,利用 MATLAB 和 VC 接口技术,将 Internet 网络和数字仿真系统结合了起来,为远程控制系统中控制算法的仿真试验研究提供了很好的工具。更多还原

【Abstract】 Along with the development of the network technique, Internet technique has already permeated to each realm of the daily life and industry production. It made it possible to realize the remote control using the Internet. The remote control systems based on Internet has become a pop research realm. Firstly, this paper research and analyze some key problems in the Internet-based remote control systems and the rules of uncertain transportation delay of the data in the network. Based on these, the remote control systems are translated to its equivalent model. Then an uncertain delay compensated control law which is designed using the H ∞ control theory is presented in this paper. This control law can solve the uncertain delay in the remote control systems very well. Then, to improve the performance of the H ∞ controller, the Genetic Algorithm(GA) is used to optimize the law. Also, the searching range of the basic GA is discussed and a two-step GA is presented in the paper. This method can greatly improve the capability of the Genetic Algorithm and the H ∞ controller. At last, a simulation software is designed for the design of remote control systems. This software uses the data interface technique between MATLAB and VC++. It is a very good simulation tools for the control law research of Internet-based remote control systems because it can integrate the digital simulation with the real Internet very well.更多还原